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University of Naples Federico II

Robotics Foundation II - Robot Control

University of Naples Federico II via edX


Robotics is commonly defined as the study of the intelligent connection between perception and action. As such, the full scope of robotics lies at the intersection of mechanics, electronics, signal processing, control engineering, computing, and mathematical modeling.

Within this very broad framework, modeling and control play a basic role - not only in the traditional context of industrial robotics, but also for the advanced applications of field and service robots, which have attracted increasing interest from the research community in the last twenty years.

Robotics foundations are dealt with in this two-part course. The second part covers planning and control. Suitable interpolation techniques are presented to plan trajectories in either joint or operational space. For controlling a robot in the free space, motion control strategies can be either decentralized or centralized. The former leads to independent joint control which treats nonlinear dynamic couplings as disturbance, while the latter is based on the robot dynamic model. PD control with gravity compensation and inverse dynamics control are presented. Operational space control is then introduced as a premise to controlling a robot interacting with the environment. Both indirect and direct force control schemes are developed for constrained motion control. The visual servoing approach is adopted to integrate information about the objects present in the scene into the control loop, where the resulting schemes can be of three types: position-based, image-based, or hybrid. The last part of the course is devoted to mobile robots. Kinematic models of simple vehicles are presented, along with trajectory planning methods which have to properly account for the nonholonomic constraints. The motion control problem is tackled with reference to the trajectory tracking task. Odometric localization techniques are finally presented for practical implementation of feedback control schemes.

Taught by

Bruno Siciliano

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5.0 rating, based on 5 reviews

Start your review of Robotics Foundation II - Robot Control

  • Anonymous
    One of the best course i must say. Whatever i know about robotics either its kinematics, dynamics, motion planning, grasping and manipulation, force control, visual servoing, non-holonomic drives and path planning and many other concepts are just because of this course. You are the best Professor. Thanks for the course and also for the your HandBook on Robotics, which we still refer when we stuck somewhere.

    Sunny Katyara

    Phd-Student, Napoli, Italy.
  • Anonymous
    All edx courses I have enrolled and went through are fabulous, Robotics is my research area, as it is a multidisciplinary area listening to experts like You helps a lot

    Thanks for all the hardwork You have put, definitely it will help immensely to people registering for this course

    Harish Bhat N.,
  • Anonymous
    I am very happy with the teaching methods and individual attendtion provided to my child. The course has helped my child develop critical thinking and she is able to create her own game.
  • Anonymous
    Great oportunity to learn about high technology and improve my skills as mechanichal engineer, providing me high knowledge to grow up professionally.
  • Anonymous
    transparent writing table would improve the course .

    transparent writing table would improve the course .

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